diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index b217619df0..42ee2edc59 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -124,15 +124,9 @@ get_roll_rate_stabilized_bf(int32_t stick_angle)
     // don't let angle error grow too large
     angle_error = constrain_float(angle_error, - MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
 
-    #if FRAME_CONFIG == HELI_FRAME
-        if (!motors.motor_runup_complete) {
-               angle_error = 0;
-        }
-    #else
-        if (!motors.armed() || g.rc_3.servo_out == 0) {
-            angle_error = 0;
-        }
-    #endif // HELI_FRAME
+    if (!motors.armed() || g.rc_3.servo_out == 0) {
+        angle_error = 0;
+    }
 
     // set body frame targets for rate controller
     set_roll_rate_target(roll_axis + correction_rate, BODY_FRAME);
@@ -180,15 +174,9 @@ get_pitch_rate_stabilized_bf(int32_t stick_angle)
     // don't let angle error grow too large
     angle_error = constrain_float(angle_error, - MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
 
-    #if FRAME_CONFIG == HELI_FRAME
-        if (!motors.motor_runup_complete) {
-               angle_error = 0;
-        }
-    #else
-        if (!motors.armed() || g.rc_3.servo_out == 0) {
-            angle_error = 0;
-        }
-    #endif // HELI_FRAME
+    if (!motors.armed() || g.rc_3.servo_out == 0) {
+        angle_error = 0;
+    }
 
     // set body frame targets for rate controller
     set_pitch_rate_target(pitch_axis + correction_rate, BODY_FRAME);
@@ -236,15 +224,9 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
     // don't let angle error grow too large
     angle_error = constrain_float(angle_error, - MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
 
-    #if FRAME_CONFIG == HELI_FRAME
-        if (!motors.motor_runup_complete) {
-               angle_error = 0;
-        }
-    #else
-        if (!motors.armed() || g.rc_3.servo_out == 0) {
-            angle_error = 0;
-        }
-    #endif // HELI_FRAME
+    if (!motors.armed() || g.rc_3.servo_out == 0) {
+        angle_error = 0;
+    }
 
     // set body frame targets for rate controller
     set_yaw_rate_target(nav_yaw + correction_rate, BODY_FRAME);